Hardware
Mechanical design
|1000mm*550mm
|18kg
|Timing belt
reducer -
Maximum
output-
40N*M
8DOF Quad tiny / 12DOF Quad tiny Module design
12DOF Quad bai
|180mm*87mm
|470g
|Capstan
reducer –
Maximum
output-
0.8N*M
Joint actuator
Mechanical design
Quad tiny – Capstan reducer 6:1
Pros:
|Without backlash, small moment
of inertia, achievable high
transmission ratio in limited space
Cons:
|Pre-tensioned rope is vital
Motor
Capstan1
Capstan2
Quad bai – Timing belt reducer 9:1
Pros:
|Small backlash, small moment
of inertia,
Cons:
|Higher friction, timing belt
needed to be tensioned
Motor
Timing belt 1
Timing belt 2
Leg
Mechanical design for quad tiny
For Quad tiny
| Parallel leg mechanical design
Guidelines
| Low weight/moment of inertia
/sufficient strength
L1
L2
L4
L3
Simulation of leg’s workspace
Actuator 1
Actuator 2
Replaceable foot
Single leg demo
Single leg demo
Actuator 1
Actuator 2
Replaceable foot
Actuator 3
Leg
Mechanical design for quad bai
Guidelines
| Low weight/moment of inertia
/sufficient strength
For Quad tiny
| Serial leg design
Assembly a leg
Eletronic
driver/controller for quad tiny
Motor driver_ gen 1:
|Atmega328/Drv8313/AS5600
|IIC*1/UART*1 Maximum 1.5A / 5.4g
Motor driver_ gen 2:
|STM32f446/Drv8313/AS5600
|IIC*1/UART*2/CAN*1/SPI*1 with torque control mode
Controller board:
|Esp32 Bluetooth/WIFI/IMU
|IIC*1/UART*1/SPI*1
|Battery management,4S 450mah Lion bat
Controller ESP32
驱动
驱动
Drv
驱动
驱动
驱动
驱动
驱动
驱动
驱动
驱动
驱动
IIC
UART
SIM
v-rep simulation of quad tiny
|Hopping torque simed
|Hopping with feedforward controller
|2021, Shuang Peng, www.psrobotics.tech